class QCameraView(QGraphicsView):
"""
Accepts an image of a teleop compressed image type and draws that in the
scene/view.
"""
def __init__(self, parent=None):
super(QCameraView, self).__init__(parent)
self.scene = QGraphicsScene(self)
self.setScene(self.scene)
self._load_default_image()
self.connect(self, SIGNAL("load_default_image"),
self._load_default_image)
def _load_default_image(self):
joystick_icon = os.path.join(
rospkg.RosPack().get_path('rocon_bubble_icons'), 'icons',
'joystick.png')
pixmap = QPixmap(joystick_icon, format="png")
if self.scene:
self.scene.addPixmap(pixmap)
self.scene.update()
self.fitInView(
QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def load_default_image(self):
self.emit(SIGNAL("load_default_image"))
@pyqtSlot(sensor_msgs.CompressedImage, name='image_received')
def on_compressed_image_received(self, image):
'''
:param sensor_msgs.CompressedImage image: convert and display this in the QGraphicsView.
'''
if len(self.scene.items()) > 1:
self.scene.removeItem(self.scene.items()[0])
pixmap = QPixmap()
pixmap.loadFromData(image.data, format=image.format)
self.scene.addPixmap(pixmap)
self.scene.update()
# setting fitInvView seems sensitive to here or prior to scene update
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def resizeEvent(self, evt=None):
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)